Titanium plate inner rib welding seam phased array detection method guided by acoustic interface imaging

Abstract

The application provides a kind of acoustic interface imaging guided titanium plate inner rib weld seam phased array detection method, it is related to titanium alloy welding detection field, with acoustic interface imaging feature as decision factor, linkage line-surface composite probe, vacuum adsorption type robot and multi-mode imaging, real-time sensing probe and the relative position of inner rib weld seam and carry out self-programming adjustment, guarantee can automatically, effectively scan weld area, simultaneously, line array and area array are combined and imaged synchronously, single scanning can realize the detection of defects in each direction of longitudinal direction, transverse direction, compared with 5 times scanning of prior art detection technology, scanning times is reduced by 80%.

Description

Technical Field

[0001] This invention relates to the field of titanium alloy welding inspection, and more specifically, to a phased array inspection method for the weld seam of the inner rib of a titanium plate guided by acoustic interface imaging. Background Technology

[0002] Titanium alloys are widely used in petrochemical, nuclear power, shipbuilding, and marine engineering fields. Welding is extensively employed in the manufacturing of various products, and non-destructive testing of weld joints is necessary to ensure weld quality. For pressure-resistant structures, stiffening plates are often welded to their inner walls to further enhance structural strength. The weld between the stiffening plates and the wall panels is typically a T-shaped structure. Figure 1 As shown.

[0003] Currently, phased array ultrasonic testing of common T-shaped welded structures requires separate testing on the stiffening plates and outer wall panels. However, the internal stiffening welds of titanium alloy structures have two main characteristics that prevent testing on the inner stiffening plates: (1) the height of the internal stiffening plates is very small, making probe scanning impossible; (2) most titanium alloy structures are internally enclosed, preventing testing personnel from entering to conduct the test. For phased array ultrasonic testing of internal stiffening welds, the weld position cannot be directly observed when scanning on the outer wall panel. To accurately analyze and judge defect signals, the specific location of the weld should be drawn in advance according to the characteristics of the product's welded structure. At the same time, the weld should be scanned 5 times at the front, back, left, and right positions to detect defects with different orientations. Therefore, there are significant limitations in actual inspection, mainly in the following aspects: First, the location of the weld needs to be accurately located and marked before inspection, wasting a lot of time; second, multiple scans are required at different relative positions of the weld, resulting in a slow inspection speed; third, when using an automated scanning system, the robot needs specialized path planning or teaching, and due to the non-magnetic nature of titanium alloy materials, commonly used magnetic crawlers cannot adhere to the outer wall panels of large titanium alloy structures for automated scanning. Therefore, current inspection technology has significant shortcomings—difficulty in locating the weld area, cumbersome multi-directional scanning, and difficulty in automating the scanning process. Summary of the Invention

[0004] In view of this, the present invention aims to propose an acoustic interface imaging-guided phased array detection method for the weld seam of the inner rib of titanium plate, in order to solve the problems existing in the phased array ultrasonic detection of the weld seam of titanium alloy inner rib in the prior art, such as the need to obtain the accurate position of the weld seam in advance before the detection, the need for path planning or trial teaching in advance for automatic robot scanning, and the fact that magnetic wall-climbing robots are not suitable for titanium alloy materials and the number of scanning times is cumbersome.

[0005] To achieve the above objectives, the technical solution of the present invention is implemented as follows:

[0006] A phased array detection method for the weld seam of the inner rib of a titanium plate guided by acoustic interface imaging includes the following steps:

[0007] (1) Design a line-plane composite phased array ultrasonic probe, wherein the probe adopts an "I" shaped layout and the probe consists of an upper linear array, a plane array and a lower linear array;

[0008] (2) Construct an automatic scanning system, which includes a vacuum adsorption wall-climbing robot, a probe scanning guide rail, and a probe clamping and scanning accessory;

[0009] (3) Excite the upper linear array in the composite probe to perform LL full-focus imaging, obtain structural imaging of the probe position, and guide probe positioning and scanning based on the integrity of the inner wall of the panel.

[0010] Determine if the inner rib weld is at the center of the upper linear array; excite the lower linear array in the composite probe to perform LL full-focus imaging, determine if the inner rib weld is at the center of the lower linear array, adjust the probe posture until the length direction of the inner rib weld is perpendicular to the probe linear array arrangement direction; drive the vacuum adsorption wall-climbing robot to move along the length direction of the inner rib weld for scanning and inspection.

[0011] (4) Excite the line-surface composite probe with multiple delay laws, image them separately, drive the scanning system to scan the inner reinforcement weld, and perform qualitative and quantitative analysis of the defects according to the detection standards.

[0012] In some embodiments, the number of wafers in the linear array in step (1) is N1, the center-to-center spacing of the wafers is P1, and the total width of the linear array is N1×P1; the area array adopts a square arrangement, the wafers are square, the number of wafers in both directions is equal, the number of wafers is M1×M1, the center-to-center spacing of the wafers in the area array is P2, and the width of the area array is M1×P2; the linear array and the area array are symmetrically distributed at their centers.

[0013] In some embodiments, the total width N1×P1 of the linear array wafer is not less than twice the thickness of the rib plate, and the area array width M1×P2 is not less than the thickness of the rib plate.

[0014] In some embodiments, the vacuum adsorption wall-climbing robot in step (2) uses Mecanum wheels, and the robot's load capacity is not less than 10kg, which can adapt to the machined surface and sandblasted surface of titanium alloy with a curvature radius of more than 2 meters; the probe scanning guide rail is linear, with a guide rail length of 300mm, and is equipped with a probe clamping device, which can drive the probe to move arbitrarily on the guide rail, with a movement accuracy better than 0.2mm.

[0015] In some implementations, the specific method for determining whether the inner rib weld is at the center of the upper linear array in step (3) is as follows: when the inner wall image is complete, the vacuum adsorption wall-climbing robot moves along the direction perpendicular to the length of the inner rib weld until the inner wall image is partially missing; when the inner wall image is incomplete, it is determined whether the missing part of the inner wall is located in the central area of ​​the imaging range, that is, whether the inner wall display lengths UW1 and UW2 at both ends of the imaging range satisfy |UW1-UW2|≤2mm; when they are satisfied, it indicates that the inner rib weld is at the center of the upper linear array; when |UW1-UW2|>2mm, the probe is driven by the probe scanning guide rail to move towards the direction with the shorter inner wall display length until |UW1-UW2|≤2mm.

[0016] In some embodiments, the specific method for determining whether the inner reinforcement weld is at the center of the lower linear array and adjusting the probe posture in step (3) is as follows: excite the lower linear array in the composite probe, perform LL full-focus imaging, obtain structural imaging of the probe position, and display the inner wall of the wall panel; determine whether the inner wall display lengths DW1 and DW2 at both ends of the imaging range satisfy |DW1-DW2|≤2mm; when satisfied, it indicates that the probe posture is accurate; when |DW1-DW2|>2mm, drive the vacuum adsorption wall-climbing robot to rotate to the side of the smaller value of the inner wall display lengths DW1 and DW2, and then re-determine the position of the upper linear array until |UW1-UW2|≤2mm and |DW1-DW2|≤2mm are satisfied at the same time.

[0017] In some implementations, the probe position is monitored in real time during the scanning process in step (3), and adjustments are made whenever the probe deviates.

[0018] In some implementations, step (4) involves excitation of the line-surface composite probe using four sets of time delay laws for imaging: driving the linear array element to perform full-focus imaging in LL mode to detect defects such as non-fusion and porosity; driving the surface array to perform fan-scan imaging in the direction perpendicular to the length of the inner reinforcement weld and in the direction parallel to the length of the inner reinforcement weld, with an imaging angle range of -45° to +45°, for detecting longitudinal and transverse defects.

[0019] In some implementations, in step (4), the total number of channels of the phased array ultrasonic host is not less than the sum of the number of linear array wafers and the number of area array wafers, and the number of parallel channels is not less than the maximum number of linear array wafers and area array wafers.

[0020] In some implementations, the scanning step length in step (3) is set to 0.5 mm, the pulse repetition frequency is set to 1500 Hz, and the scanning speed is set to 30 mm / s. Using the acoustic interface imaging characteristics as a decision factor, a line-surface composite probe, a vacuum adsorption wall-climbing robot, and multi-mode imaging are linked. The detection path is guided and controlled by structural imaging. The relative position between the probe and the inner reinforcement weld is sensed in real time and self-planned and adjusted to ensure that the weld area can be automatically and effectively scanned. At the same time, the linear array and the area array are combined for synchronous imaging, and defects in all directions can be detected in a single scan.

[0021] Compared with existing technologies, the acoustic interface imaging-guided phased array detection method for the weld seam of the inner rib of titanium plate described in this invention has the following advantages:

[0022] This invention designs a line-plane composite phased array probe. Through multi-channel and multi-mode imaging, it can acquire the acoustic interface image of the inner reinforcement weld in real time and achieve adaptive positioning by linkage feedback with the detection device. This solves the problem of difficult location of weld on the outside of the wall panel. At the same time, by using line array and plane array synchronous multi-mode imaging, defects in 5 directions can be detected in a single scan, reducing the number of scans by 80%. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the internal reinforcement weld structure according to an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the line-plane composite probe chip layout according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic diagram of the scanning system described in an embodiment of the present invention;

[0026] Figure 4 This is the acoustic interface imaging guidance logic flow described in the embodiments of the present invention;

[0027] Figure 5 This is a schematic diagram of the complete image of the inner wall of the wall panel according to an embodiment of the present invention;

[0028] Figure 6 This is a schematic diagram of an incomplete imaging of the inner wall of the wall panel according to an embodiment of the present invention;

[0029] Figure 7 This is a schematic diagram of the imaging when |UW1-UW2|≤2mm as described in the embodiments of the invention;

[0030] Figure 8 This is a schematic diagram of the imaging when |UW1-UW2|>2mm as described in the embodiment of the invention.

[0031] Explanation of reference numerals in the attached figures:

[0032] 1. Wall panel; 2. Rib plate; 3. Internal rib weld; 4. First linear array wafer; 5. N1st linear array wafer; 6. Center-to-center spacing P1 of linear array wafers; 7. First area array wafer; 8. M1st area array wafer; 9. Center-to-center spacing P2 of area array wafers; 10. Vacuum adsorption wall-climbing robot; 11. Probe scanning guide rail; 12. Probe clamping and scanning accessories. Detailed Implementation

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0034] This invention relates to titanium alloy welded products with a panel-like structure, such as... Figure 1 As shown, the wall panel 1 and the stiffening plate 2 are in a vertical or nearly vertical T-shaped welded structure. An inner stiffening weld 3 is formed at the connection between the stiffening plate 2 and the wall panel 1. The following mainly focuses on the defect detection of the inner stiffening weld.

[0035] like Figures 1-8 As shown, a phased array ultrasonic self-planning inspection method for welded seams of titanium alloy internal reinforcing bars guided by acoustic interface imaging includes the following steps:

[0036] I. Design of a line-to-surface composite phased array ultrasonic probe.

[0037] (1) The line-plane composite phased array ultrasonic probe adopts an "I" shaped layout, consisting of an upper linear array, a plane array, and a lower linear array, see Figure 2 As shown.

[0038] (2) The number of wafers in the linear array is N1, the length of a single wafer is 6mm, the center-to-center spacing of the wafers is P1, and the total width of the linear array is N1×P1.

[0039] (3) The array adopts a square arrangement, the wafers are square, the number of wafers in the two directions is equal, the number of wafers is M1×M1, the center spacing of the wafers in the array is P2, and the width of the array is M1×P2.

[0040] (4) Linear arrays and area arrays are symmetrically distributed at the center, and the number and width of the wafers should correspond to the inspection piece.

[0041] Where N1 > M1, P1 < P2.

[0042] II. Design of Automatic Scanning System.

[0043] (1) The automatic scanning system consists of a vacuum suction wall-climbing robot 10, a probe scanning guide rail 11, and a probe clamping and scanning accessory 12, such as Figure 3As shown. The vacuum adsorption wall-climbing robot 10 serves as a carrier for scanning during inspection. The probe scanning guide rail 11 is used to control the position of the probe to ensure that it is in good inspection conditions with the inner rib weld 3. The probe clamping scanning accessory 12 is used to clamp the probe and ensure stable coupling.

[0044] (2) The vacuum adsorption wall-climbing robot 10 uses Mecanum wheels and can move in multiple directions. The robot has a good load capacity (not less than 10kg) and can adapt to the machined surface and sandblasted surface of titanium alloy with a curvature radius of more than 2 meters.

[0045] (3) The probe scanning guide rail 11 is linear with a length of 300mm. The guide rail is equipped with a probe clamping device, which can drive the probe to move arbitrarily on the guide rail with a moving accuracy better than 0.2mm.

[0046] III. Acoustic Interface Imaging Guidance Logic.

[0047] (1) First, the upper linear array in the composite probe is excited to perform LL full-focus imaging to obtain structural imaging of the probe position, showing the bottom wave of the wall panel 1. The probe positioning and scanning are guided by the integrity of the inner wall of the wall panel 1. The logic flow is as follows: Figure 4 As shown.

[0048] (2) Determine whether the inner reinforcement weld 3 is at the center of the upper linear array: when the inner wall image is complete ( Figure 5 The vacuum-adsorption wall-climbing robot moves along the length of the inner rib weld 3 perpendicular to its length until a portion of the inner wall image is missing. Figure 6 When the inner wall imaging is incomplete, the characteristics of the imaging display are judged to determine whether the missing part of the inner wall is located in the central area of ​​the imaging range (whether the inner wall display lengths UW1 and UW2 at both ends of the imaging range are close (|UW1-UW2|≤2mm)). When |UW1-UW2|≤2mm ( Figure 7 This indicates that the inner reinforcement weld 3 is at the center of the upper linear array and can proceed to the next procedure; when |UW1-UW2|>2mm ( Figure 8 Using the probe scanning guide 11, the probe is driven to move in the shorter direction until |UW1-UW2|≤2mm.

[0049] (3) Determine whether the inner rib weld 3 is at the center of the lower linear array, and adjust the probe posture until the length direction of the inner rib weld 3 is perpendicular to the probe linear array arrangement direction: excite the lower linear array in the composite probe, perform LL full-focus imaging, obtain the structural imaging of the probe position, and display the inner wall of the wall panel 1. Determine whether the inner wall display lengths DW1 and DW2 at both ends of the imaging range are close. When |DW1-DW2|≤2mm, it indicates that the probe posture is accurate and can proceed to the next procedure; when |DW1-DW2|>2mm, drive the vacuum adsorption wall climbing robot to rotate to the side with the smaller value of the inner wall display lengths DW1 and DW2, and then return to step (1) until |UW1-UW2|≤2mm and |DW1-DW2|≤2mm are satisfied at the same time.

[0050] (4) Once the display lengths of the inner walls on both sides of the upper and lower linear arrays are close within the imaging range of the inner wall of panel 1, the vacuum adsorption wall-climbing robot 10 can be driven to move along the length direction of the inner rib weld 3 for scanning and inspection. The probe position is monitored in real time during the scanning process, and adjustments are made immediately if deviation occurs.

[0051] IV. Multi-mode imaging detection.

[0052] (1) The phased array ultrasound host should have multi-channel parallel driving capability, and the number of driving channels should meet the multi-mode imaging requirements of the line-plane composite probe.

[0053] (2) The line-surface composite probe is excited by four sets of delay laws and imaged respectively: the driving line array part of the vibrating element performs full-focus imaging in LL mode to detect unmelted and porosity defects; the driving surface array part performs fan-scan imaging in the direction perpendicular to the length of the inner reinforcement weld and in the direction parallel to the length of the inner reinforcement weld, with an imaging angle range of -45° to +45°, to detect longitudinal and transverse defects.

[0054] (3) Under the excitation of the above four sets of delay rules, the scanning system is driven to scan the inner reinforcement weld and to determine whether the defects are qualified based on the corresponding detection standards.

[0055] The present invention provides an acoustic interface imaging-guided phased array ultrasonic self-planning inspection method for titanium alloy internal rib welds. The number and width of the wafers should correspond to the test piece, meaning that the total width N1×P1 of the linear array wafers is not less than twice the thickness of the rib plate, and the area array width M1×P2 is not less than the thickness of the rib plate.

[0056] The present invention provides an acoustic interface imaging-guided phased array ultrasonic self-planning detection method for titanium alloy internal rib welds. The phased array ultrasonic host driving channel number meets the multi-mode imaging requirements of the line-area composite probe, meaning that the total number of channels is not less than the sum of the number of linear array wafers and the number of area array wafers, and the number of parallel channels is not less than the maximum value of the number of linear array wafers and the number of area array wafers.

[0057] Compared with existing technologies, the significant advantages of this invention are as follows: 1. Utilizing the acoustic interface imaging principle, the linear array portion of the composite probe is excited to acquire structural imaging at its location. The position of the inner reinforcement weld is determined based on the integrity of the bottom wave display of the wall panel, and the above information is fed back to the scanning system for adaptive adjustment, eliminating the process of manually locating the inner reinforcement weld position according to the welding structure drawings required in existing technologies. 2. The use of a Mecanum wheeled vacuum adsorption wall-climbing robot solves the problem of scanning and moving in any direction on the surface of non-magnetic titanium alloy materials, overcoming the limitation of magnetic crawling robots being restricted by ferromagnetic materials. 3. A combination of a line-surface composite phased array probe and multi-mode imaging is designed to ensure automatic and effective scanning of the weld area. At the same time, the linear array and surface array are combined for synchronous imaging, enabling the detection of longitudinal and transverse defects in a single scan. Compared with the five scans required by existing detection technologies, the number of scans is reduced by 80%.

[0058] Example 1.

[0059] A certain titanium alloy product has a panel structure with a panel thickness of 30mm. The panel has an irregular curved surface with a minimum radius of curvature of 2.2m. Internal stiffeners, each 12mm thick, are welded in. Due to structural limitations, inspection personnel cannot enter the product area; therefore, the weld seams of the stiffeners must be inspected externally. The panel surface is sandblasted. The inspection process includes the following steps:

[0060] I. Design of a line-to-surface composite phased array ultrasonic probe.

[0061] (1) The line-plane composite phased array ultrasonic probe adopts an "I" shaped layout.

[0062] (2) The linear array has 64 chips, the length of a single chip is 6mm, the center-to-center spacing of the chips is 0.5mm, and the total width of the linear array is 32mm.

[0063] (3) The array adopts a square arrangement, the wafers are square, the number of wafers in both directions is equal, the number of wafers is 8×8, the center spacing of the wafers in the array is 2, and the width of the array is 16mm.

[0064] (4) The linear array and the area array are symmetrically distributed at the center. The total width of the linear array is greater than twice the thickness of the stiffener wall, and the width of the area array is not less than the thickness of the stiffener wall. The center frequency of the wafers is 5MHz.

[0065] II. Design of Automatic Scanning System.

[0066] (1) The automatic scanning system consists of a vacuum adsorption wall-climbing robot, a probe scanning guide rail, and a clamping scanning accessory. The vacuum adsorption wall-climbing robot serves as the carrier for scanning during inspection. The probe scanning guide rail is used to control the position of the probe to ensure that it is in good inspection conditions with the inner reinforcement weld. The clamping accessory is used to clamp the probe and ensure stable coupling.

[0067] (2) The vacuum adsorption wall-climbing robot uses Mecanum wheels and can move in multiple directions. The robot has a good load capacity (12kg) and can adapt to titanium alloy sandblasted surfaces with a curvature radius of more than 2 meters.

[0068] (3) The probe scanning guide rail is linear with a length of 300mm. It is equipped with a probe clamping and scanning device, which can drive the probe to move arbitrarily on the guide rail with a movement accuracy of 0.2mm.

[0069] III. Acoustic Interface Imaging Guidance Logic.

[0070] (1) Excite the upper linear array in the composite probe to perform LL full-focus imaging, obtain structural imaging of the probe position, display the inner wall of the panel, and guide the probe positioning and scanning based on the integrity of the inner wall display.

[0071] (2) Determine whether the inner rib weld is at the center of the upper linear array: When the inner wall image is complete, the vacuum adsorption wall-climbing robot moves along the direction perpendicular to the length of the inner rib weld until the inner wall image is partially missing; when the inner wall image is incomplete, the characteristics of the image display are judged to determine whether the missing part of the inner wall is located in the center area of ​​the imaging range (whether the inner wall display lengths UW1 and UW2 at both ends of the imaging range are close (|UW1-UW2|≤2mm)). When |UW1-UW2|≤2mm, it indicates that the inner rib weld is at the center of the upper linear array; when |UW1-UW2|>2mm, the probe is driven by the probe scanning guide to move in the direction of the shorter length until |UW1-UW2|≤2mm.

[0072] (3) Determine whether the inner rib weld is at the center of the lower linear array, and adjust the probe posture until the length direction of the inner rib weld is perpendicular to the probe linear array arrangement direction: excite the lower linear array in the composite probe, perform LL full-focus imaging, obtain the structural imaging of the probe position, and display the bottom wave of the wall panel. Determine whether the inner wall display lengths DW1 and DW2 at both ends of the imaging range are close. When |DW1-DW2|≤2mm, it indicates that the probe posture is accurate; when |DW1-DW2|>2mm, drive the vacuum adsorption wall-climbing robot to rotate to the side with the smaller value of the inner wall display lengths DW1 and DW2, and then return to step (1) until |UW1-UW2|≤2mm and |DW1-DW2|≤2mm are satisfied at the same time.

[0073] (4) Once the display lengths of the inner walls on both sides of the upper and lower linear arrays are close within the imaging range of the inner wall of the wall panel, the wall-climbing robot can be driven to move along the length of the inner rib weld for scanning and inspection. The scanning step length is set to 0.5 mm, the pulse repetition frequency is set to 1500 Hz, and the scanning speed is set to 30 mm / s. The probe position is monitored in real time during the scanning process, and adjustments are made immediately if deviation occurs.

[0074] IV. Multi-mode imaging detection.

[0075] (1) The phased array ultrasound host with 256 parallel channels can meet the requirements of parallel driving and multi-mode imaging of each crystal of the line-plane composite probe.

[0076] (2) The line-surface composite probe is excited by four sets of delay laws and imaged respectively: the upper and lower line array parts are driven to perform full-focus imaging in LL mode to detect unmelted and porosity defects; the surface array part is driven to perform fan-scan imaging in the direction perpendicular to the length of the inner reinforcement weld and in the direction parallel to the length of the inner reinforcement weld, with an imaging angle range of -45° to +45°, to detect longitudinal and transverse defects.

[0077] (3) Under the excitation of the above three sets of delay rules, drive the scanning system to scan the inner reinforcement weld, and perform qualitative and quantitative analysis according to the NB / T47013.15 standard to determine whether it is qualified.

[0078] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

Claims

1. A phased array detection method for the weld seam of the inner rib of a titanium plate guided by acoustic interface imaging, characterized in that, Includes the following steps: (1) Design a line-plane composite phased array ultrasonic probe. The probe adopts an "I" shaped layout. The probe consists of an upper linear array, a plane array, and a lower linear array. The upper and lower linear arrays are located on both sides of the plane array, and the linear array and the plane array are symmetrically distributed at their centers. (2) Construct an automatic scanning system, which includes a vacuum adsorption wall-climbing robot, a probe scanning guide rail, and a probe clamping and scanning accessory; (3) Excite the upper linear array in the composite probe to perform LL full-focus imaging and obtain the structural imaging of the probe position. Guide the probe positioning and scanning according to the integrity of the inner wall display of the wall panel; determine whether the inner rib weld is in the center position of the upper linear array; when the inner wall imaging is complete, the vacuum adsorption wall climbing robot moves along the direction perpendicular to the length of the inner rib weld until the inner wall imaging is partially missing; when the inner wall imaging is incomplete, determine whether the missing part of the inner wall is located in the central area of ​​the imaging range, that is, whether the inner wall display lengths UW1 and UW2 at both ends of the imaging range satisfy |UW1-UW2|≤2mm; when it is satisfied, it indicates that the inner rib weld is in the center position of the upper linear array; when |UW1-UW2|>2mm, use the probe scanning guide to drive the probe to move in the direction of the shorter inner wall display length until |UW1-UW2|≤2mm; The lower linear array of the excitation composite probe is used for LL full-focus imaging to determine whether the inner rib weld is at the center of the lower linear array and adjust the probe posture: acquire structural imaging of the probe position to display the inner wall of the panel; determine whether the inner wall display lengths DW1 and DW2 at both ends of the imaging range satisfy |DW1-DW2|≤2mm; if they are satisfied, it indicates that the probe posture is accurate; when |DW1-DW2|>2mm, drive the vacuum adsorption wall-climbing robot to rotate to the side with the smaller value of the inner wall display lengths DW1 and DW2, and then re-determine the position of the upper linear array until |UW1-UW2|≤2mm and |DW1-DW2|≤2mm are satisfied simultaneously, so that the length direction of the inner rib weld is perpendicular to the probe linear array arrangement direction; drive the vacuum adsorption wall-climbing robot to move along the length direction of the inner rib weld for scanning and inspection. (4) The line-surface composite probe is excited by multiple delay laws and imaged separately. The linear array part is driven to perform full-focus imaging in LL mode to detect defects such as non-fusion and porosity. The surface array part is driven to perform fan scanning imaging in the direction perpendicular to the length of the inner reinforcement weld and in the direction parallel to the length of the inner reinforcement weld, with an imaging angle range of -45° to +45°, for the detection of longitudinal and transverse defects. The scanning system is driven to scan the inner reinforcement weld and to perform qualitative and quantitative analysis of defects according to the detection standards.

2. The phased array detection method according to claim 1, characterized in that, In step (1), the number of wafers in the linear array is N1, the center-to-center spacing of the wafers is P1, and the total width of the linear array is N1×P1; the surface array adopts a square arrangement, the wafers are square, the number of wafers in both directions is equal, the number of wafers is M1×M1, the center-to-center spacing of the wafers in the surface array is P2, and the width of the surface array is M1×P2; the linear array and the surface array are symmetrically distributed at their centers.

3. The phased array detection method according to claim 1, characterized in that, The total width N1×P1 of the linear array wafer is not less than twice the thickness of the rib plate, and the area array width M1×P2 is not less than the thickness of the rib plate.

4. The phased array detection method according to claim 1, characterized in that, The vacuum adsorption wall-climbing robot described in step (2) uses Mecanum wheels. The robot's load capacity is not less than 10kg and it can adapt to titanium alloy machined surfaces and sandblasted surfaces with a curvature radius of more than 2 meters. The probe scanning guide rail is linear with a length of 300mm. It is equipped with a probe clamping device and can drive the probe to move arbitrarily on the guide rail with a movement accuracy better than 0.2mm.

5. The phased array detection method according to claim 1, characterized in that, In step (3), the probe position is monitored in real time during the scanning process, and adjustments are made as needed when the probe deviates from its position.

6. The phased array detection method according to claim 1, characterized in that, In step (4), the total number of channels of the phased array ultrasound host is not less than the sum of the number of linear array wafers and the number of area array wafers, and the number of parallel channels is not less than the maximum number of linear array wafers and area array wafers.

7. The phased array detection method according to claim 1, characterized in that, In step (3), the scanning step length is set to 0.5 mm, the pulse repetition frequency is set to 1500 Hz, and the scanning speed is set to 30 mm / s.

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