The invention belongs to the field of ultrasonic nondestructive testing, and relates to a multi-degree-of-freedom mobile phased array ultrasonic automatic detection device which comprises an electric trolley, a precision mechanical lifting device, a six-degree-of-freedom collaborative robot, a phased array ultrasonic probe and a water coupling system. When the device is used, the electric trolley is controlled to move to the position of a detected part to stop, the precise lifting device is controlled to consolidate and drive the six-degree-of-freedom collaborative robot and the phased array ultrasonic probe to ascend, and the six-degree-of-freedom collaborative robot further adjusts the position and angle of the phased array ultrasonic probe according to the placement posture of the detected part. Therefore, the ultrasonic wave can be always vertically incident to the detected piece. Ultrasonic waves enter a detected piece through the water coupling medium, are reflected by the detected piece and then are fed back to the phased array ultrasonic probe, and data such as the damage position and the damage size of the detected piece are judged by processing feedback signals. The problems that traditional manual detection is high in cost, low in efficiency and poor in reliability are solved.
本申请属于超声无损检测领域,为一种多自由度移动式相控阵超声自动化检测装置,包括电动小车、精密机械提升装置、六自由度协作机器人、相控阵超声探头和水耦合系统。使用时,先控制电动小车移动至被检件位置处停止,控制精密提升装置巩固走,带动六自由度协作机器人和相控阵超声探头上升,六自由度协作机器人根据被检件的摆放姿态进一步调整相控阵超声探头的位置和角度,使超声波能够始终垂直入射至被检件。超声波通过水耦合介质入射至被检件,经过被检件的反射之后,反馈至相控阵超声探头,通过对反馈回的信号进行处理,判断被检件的损伤位置和大小等数据。克服了传统手动检测成本高、效率低和可靠性差的问题。
Multi-degree-of-freedom mobile phased array ultrasonic automatic detection device
一种多自由度移动式相控阵超声自动化检测装置
2024-05-03
Patent
Elektronische Ressource
Chinesisch
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