CN118371447A - Ultrasonic flaw detection system and detection method - Google Patents
Ultrasonic flaw detection system and detection method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/04—Analysing solids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
- G01N29/22—Details, e.g. general constructional or apparatus details
- G01N29/26—Arrangements for orientation or scanning by relative movement of the head and the sensor
- G01N29/265—Arrangements for orientation or scanning by relative movement of the head and the sensor by moving the sensor relative to a stationary material
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2291/00—Indexing codes associated with group G01N29/00
- G01N2291/02—Indexing codes associated with the analysed material
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Abstract
The invention discloses an ultrasonic flaw detection system and an ultrasonic flaw detection method, wherein the ultrasonic flaw detection system comprises a robot, a loading vehicle, a disqualified vehicle, a qualified vehicle and a flaw detection mechanism; the robot is used for grabbing a workpiece to be detected on the feeding vehicle to the position of the detection mechanism, and grabbing the detected workpiece to the qualified vehicle or the unqualified vehicle; the flaw detection mechanism comprises a workpiece rotation driving mechanism, a welding seam detection module and a vertex detection module, wherein the welding seam detection module comprises a welding seam probe and a welding seam detection adjusting mechanism, and the vertex detection module comprises a vertex probe and a vertex detection adjusting mechanism. The ultrasonic flaw detection system and the ultrasonic flaw detection method have the advantages of reliable performance, stable operation, high signal-to-noise ratio, high sensitivity, high speed, quick software response, stable and reliable performance and strong anti-interference capability.
Description
Technical Field
The invention belongs to the technical field of ultrasonic flaw detection, and particularly relates to an ultrasonic flaw detection system and an ultrasonic flaw detection method.
Background
The ultrasonic flaw detection is a method for detecting defects of parts by utilizing the characteristic that ultrasonic energy penetrates into the deep part of a metal material and is reflected at the boundary edge when entering into another section from one section, reflected waves are generated when ultrasonic waves are transmitted from the surface of the part to the inside of the metal from an ultrasonic probe and encounter the defects and the bottom surface of the part, pulse waveforms are formed on a fluorescent screen, and the positions and the sizes of the defects are judged according to the pulse waveforms.
The existing ultrasonic flaw detection mainly comprises manual flaw detection, and the workpiece is subjected to flaw detection by using a portable ultrasonic flaw detector and an ultrasonic probe, so that the following problems exist:
(1) The manual flaw detection working efficiency is low, and the flaw detection quality depends on staff responsibility;
(2) The defect judgment depends on manual experience, the learning difficulty of new staff is high, and uncertain factors are generated on the detection result by human factors when judging defects;
(3) Flaw detection data are not collected, tracing is inconvenient, and effective disclaimer proof cannot be provided once accidents occur.
Disclosure of Invention
The invention aims to: the invention aims to solve the defects in the prior art and provides an ultrasonic flaw detection system and an ultrasonic flaw detection method.
The technical scheme is as follows: the invention relates to an ultrasonic flaw detection system, which comprises a robot, a feeding vehicle, a disqualified vehicle, a qualified vehicle and a flaw detection mechanism;
the robot is used for grabbing a workpiece to be detected on the feeding vehicle to the position of the detection mechanism, and grabbing the detected workpiece to the qualified vehicle or the unqualified vehicle;
The flaw detection mechanism comprises a workpiece rotation driving mechanism, a valve head welding seam detection module, a valve rod body welding seam detection module and a valve rod body end detection module, wherein the valve head welding seam detection module and the valve rod body welding seam detection module comprise a welding seam ultrasonic sensor and a triaxial adjustment mechanism, and the valve rod body end detection module comprises a valve rod body end ultrasonic sensor and a triaxial adjustment mechanism.
Further, the disqualified vehicle and the qualified vehicle are positioned on the same side of the robot and are arranged in parallel.
Further, a robotic control system is also included, the robotic control system including a vision system.
Further, the workpiece rotation driving mechanism comprises a driving motor, a transmission shaft, bearings and supporting rollers, one end of the transmission shaft is connected with the driving motor, the transmission shaft is axially provided with a plurality of bearings and the supporting rollers, and the supporting rollers are provided with workpieces.
Further, the transmission shaft is located below the supporting roller and is in contact with the supporting roller, and the supporting roller is driven to rotate through rotation of the transmission shaft.
Further, the support rollers include a plurality of sets, each set including a pair of rollers.
Further, the valve head welding seam detection module, the valve rod body welding seam detection module and the valve rod body end detection module further comprise a flaw detection system.
Further, the valve head weld detection module comprises a first probe; the valve rod body welding seam detection module comprises a second probe.
Further, the three-axis adjusting mechanism adopts XYZ multi-axis adjustment.
The invention also discloses a flaw detection method of the ultrasonic flaw detection system, which comprises the following steps:
(1) After the workpiece to be tested is processed, the workpiece to be tested is placed on a fixed support of a feeding trolley;
(2) Pushing the trolley into a loading station of the closed frame, detecting the position of a single workpiece by a robot vision system, finding the position deviation of the workpiece correctly, sending a signal to a PLC (programmable logic controller) control pneumatic adjusting device to adjust the position of the workpiece, clamping the workpiece by the action of the robot after the position adjustment of the workpiece is completed, feeding the workpiece into a detection station, clamping the workpiece by a tool of the detection station, and returning the robot to the loading station to clamp the next workpiece;
(3) The valve rod end detection module moves to detect the end of the workpiece rod body, and returns to a standby state (starting point standby) after the detection;
(4) The workpiece rotates, the valve head welding seam detection module and the valve rod body welding seam detection module respectively move to a valve head and a valve rod body detection station to start detection, and the detection is finished and returns to a standby state (a starting point standby);
(5) The machine arm adopts a double-station clamping jaw, moves to a detection station during working, the A clamping jaw takes out the detected workpiece, the clamping jaw position B clamping jaw is adjusted to put the next workpiece into the detection station for detection, and the machine arm clamps the detected workpiece, and the robot moves to a blanking station and sorts;
(6) The multichannel ultrasonic system gives out signals to the PLC, the PLC drives the subsystem to work, and the robot realizes automatic feeding, discharging and sorting to complete the whole detection process repeatedly;
(7) After the first layer is taken out, the robot arm takes away the bracket module and takes out the second layer of workpieces.
The beneficial effects are that: the beneficial effects of the invention are as follows:
1) The automatic detection system and the detection method provided by the invention can realize the automatic execution of sensitivity check and flaw detection, and effectively improve the work efficiency of flaw detection of the workpiece;
2) The automatic detection system and the detection method provided by the invention can automatically judge the defect equivalent through comparison with a sample workpiece, do not depend on manual experience, and reduce the learning cost of flaw detection operators;
3) According to the invention, through archival management of flaw detection data, flaw detection is conveniently searched and traced, and management of flaw detection operation of workpieces can be further enhanced.
Drawings
FIG. 1 is a top view of a structure of one embodiment of the present invention;
FIG. 2 is a front view of the structure of an embodiment of the present invention;
FIG. 3 is a front view of the structure of a flaw detection mechanism according to one embodiment of the present invention;
FIG. 4 is a top view of FIG. 3;
FIG. 5 is a side view of FIG. 3;
FIG. 6 is an enlarged schematic view of a portion of the weld probe structure of FIG. 3.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "inner", "outer", etc. are the directions or positional relationships shown, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The invention will now be described in further detail by way of specific examples of embodiments in connection with the accompanying drawings.
Example 1
As shown in fig. 1 and 2, an ultrasonic flaw detection system comprises a robot 1, a loading vehicle 2, a reject vehicle 4, a pass vehicle 5 and a flaw detection mechanism 7;
the robot 1 is used for grabbing a workpiece to be detected on the feeding vehicle to the position of the flaw detection mechanism 7, and grabbing the detected workpiece to the qualified vehicle 5 or the unqualified vehicle 4;
The flaw detection mechanism 7 comprises a workpiece rotation driving mechanism, a valve head welding seam detection module, a valve rod body welding seam detection module and a valve rod body end detection module, wherein the valve head welding seam detection module and the valve rod body welding seam detection module respectively comprise a welding seam ultrasonic sensor and a three-axis adjustment mechanism, and the three-axis adjustment mechanism is respectively connected with the welding seam ultrasonic sensor and controls the three-axis movement of the welding seam ultrasonic sensor; the valve rod end detection module comprises a valve rod end ultrasonic sensor and a triaxial adjusting mechanism, wherein the triaxial adjusting mechanism is connected with the valve rod end ultrasonic sensor and controls triaxial movement of the valve rod end ultrasonic sensor.
Example 2
As shown in fig. 1 and 2, an ultrasonic flaw detection system comprises a robot 1, a loading vehicle 2, a reject vehicle 4, a pass vehicle 5 and a flaw detection mechanism 7;
the robot 1 is used for grabbing a workpiece to be detected on the feeding vehicle to the position of the flaw detection mechanism 7, and grabbing the detected workpiece to the qualified vehicle 5 or the unqualified vehicle 4;
The flaw detection mechanism 7 comprises a workpiece rotation driving mechanism, a valve head welding seam detection module, a valve rod body welding seam detection module and a valve rod body end detection module, wherein the valve head welding seam detection module and the valve rod body welding seam detection module respectively comprise a welding seam ultrasonic sensor and a three-axis adjustment mechanism, and the three-axis adjustment mechanism is respectively connected with the welding seam ultrasonic sensor and controls the three-axis movement of the welding seam ultrasonic sensor; the valve rod end detection module comprises a valve rod end ultrasonic sensor and a triaxial adjusting mechanism, wherein the triaxial adjusting mechanism is connected with the valve rod end ultrasonic sensor and controls triaxial movement of the valve rod end ultrasonic sensor.
In this embodiment, the robot 1 is preferably an ER20-1780 type robot.
In this embodiment, the reject car 4 and the accept car 5 are located on the same side of the robot 1 and are parallel to each other. The loading trolley 2 and the flaw detection mechanism 7 are positioned on different sides and are installed oppositely.
In this embodiment, still include robot control system 3, robot control system 3 includes vision system, and this vision system is connected with the robot for supplementary robot is to the discernment of work piece, thereby snatchs accurately.
The robot control system 3 comprises an electrical control element such as a PLC 9, a text display 8, a variable frequency speed regulator of the scram roller way, a pneumatic valve and the like. The whole set of control system adopts a sine frequency converter and an inlet low-voltage electric element. The sinusoidal frequency converter has strong anti-interference performance, stable performance and better stability and price of the imported low-voltage electric element. The electrical system is reasonable and standard in design, high in automation degree and capable of meeting the control standard requirements. All equipment control programs of the PLC program. It has menu display and related parameter setting.
In this embodiment, the flaw detection device further comprises a flaw detection device electrical cabinet 6, the flaw detection device electrical cabinet 6 is used for electrified control of the flaw detection mechanism 7, the flaw detection device electrical cabinet 6 comprises an industrial computer connected with a flaw detection probe, a PLC connected with the industrial computer, and the PLC is simultaneously connected with each driving motor and each servo motor.
Example 3
As shown in fig. 1 to 6, an ultrasonic flaw detection system includes a robot 1, a loading carriage 2, a reject carriage 4, a reject carriage 5, and a flaw detection mechanism 7;
the robot 1 is used for grabbing a workpiece to be detected on the feeding vehicle to the position of the flaw detection mechanism 7, and grabbing the detected workpiece to the qualified vehicle 5 or the unqualified vehicle 4;
The flaw detection mechanism 7 comprises a workpiece rotation driving mechanism, a valve head welding seam detection module, a valve rod body welding seam detection module and a valve rod body end detection module, wherein the valve head welding seam detection module and the valve rod body welding seam detection module respectively comprise a welding seam ultrasonic sensor and a three-axis adjustment mechanism, and the three-axis adjustment mechanism is respectively connected with the welding seam ultrasonic sensor and controls the three-axis movement of the welding seam ultrasonic sensor; the valve rod end detection module comprises a valve rod end ultrasonic sensor and a triaxial adjusting mechanism, wherein the triaxial adjusting mechanism is connected with the valve rod end ultrasonic sensor and controls triaxial movement of the valve rod end ultrasonic sensor.
In this embodiment, the valve head weld detection module, the valve rod weld detection module, and the valve rod end detection module preferably use GDUT series multi-channel ultrasonic flaw detectors, and GDUT series ultrasonic flaw detectors are all digital multi-channel instruments and work on an embedded platform. The modular design enables the instrument to have high expandability, and through combination, a plurality of independent transmitting-receiving channels such as 2/4/6/8/16/32/64/128 can be provided. The instrument adopts a plurality of patent technologies such as a hardware real-time waveform compression technology, a virtual channel technology, a multichannel parallel technology and the like, has advanced instrument circuit design and manufacturing process, reliable performance, stable operation, high signal-to-noise ratio, high sensitivity, high speed, quick software response, stable and reliable performance and strong anti-interference capability. The ultrasonic processing system synchronous unit uses 80MHz quartz crystal oscillator clock signal as the reference clock signal of the whole system operation, generates the time sequence synchronous signal of each channel through frequency division and logic processing, and each ultrasonic processing system is provided with 2 channel transmitting and receiving circuits and a set of common amplifying circuit, and the 6 channels work in a time-sharing and circulating way. The instrument circumferentially detects different positions of the workpiece through a plurality of channels, and the system is simple and flexible in configuration, so that the requirements of more channels are met, the reliability is high, and the maintenance is convenient. The instrument is matched with different mechanical transmission devices, can rapidly, conveniently, quickly, undamaged and accurately detect, position, evaluate and diagnose various defects (cracks, inclusions, air holes and the like) in a workpiece, can realize automatic ultrasonic flaw detection on steel bars, steel plates, mechanical parts and the like with various sizes, and is ideal automatic ultrasonic detection equipment in the industries of metallurgy, railway machinery manufacturing and the like.
Workpiece dimensions: build-up welding layer air valve specification: the diameter of the disk part ranges from phi 55mm to phi 140mm
The length is 130 mm-850 mm
Friction welding air valve specification: the diameter of the rod part ranges from phi 10 mm to phi 35mm
Length range: 130-850 mm
The weight of the air valve is less than or equal to 5kg
The material of the workpiece: the material for the air valve is as follows: 4Cr10sizMo,21-12N,23-8N,4Cr9Si3
Surfacing material: base alloy powder (colomony PTA ) cobalt-based alloy powder (st 6, st6H, st12, st12YJ1, T400)
Name of the workpiece: air valve (air valve)
Surface finish: less than or equal to 3.2 mu m
Roundness: less than or equal to 0.1mm
Straightness: each meter is less than or equal to 1mm
Burr-free end
Speed of: 5 pieces of the medicine are per minute,
Detecting the temperature of a product: the temperature is less than or equal to 50 ℃.
In this embodiment, as shown in fig. 3, the workpiece rotation driving mechanism includes a driving motor 72, a transmission shaft 78, a bearing 79 and a supporting roller 711, one end of the transmission shaft 78 is connected with the driving motor 72, the transmission shaft 78 is axially provided with a plurality of bearings 79 and supporting rollers 711, and the supporting roller 711 is provided with a workpiece 77. The workpiece rotation driving mechanism has the function of driving the workpiece to rotate, so that the workpiece is subjected to multi-azimuth flaw detection, and the flaw detection accuracy and efficiency are improved. The workpiece rotation driving mechanism is mounted on the bracket 71.
Further preferably, as shown in fig. 4 and 5, the transmission shaft 78 is located below the supporting roller 711 and is in contact with the supporting roller 711, and the supporting roller 711 is rotated by the rotation of the transmission shaft 78, and the supporting roller 711 rotates to rotate the upper workpiece.
Further preferably, the support rollers 711 include a plurality of sets, each set including a pair of rollers mounted in parallel with each other.
In this embodiment, the valve head weld detection module, the valve rod weld detection module, and the valve rod end detection module further include a flaw detection system. The flaw detection system is a software system and has the waveform of the flaw detection process and the representation of related parameters. After the inspection is completed, the system selectively or considered to keep some flaw detection data, and the data can be called out by software for review.
In this embodiment, as shown in fig. 6, the ultrasonic probe for detecting the valve head weld seam detection module adopts a first probe 712, and the probe is located at the position of the valve head girth weld seam; the ultrasonic probe for detection in the butt weld detection module in the middle of the valve rod body adopts a second probe 713, and the probe is positioned at the rod body position of the valve. Wherein the first probe 712 and the second probe 713 are both water immersion type focusing probes, and focus through the arc surface with radius r; the center of the probe is respectively fixed right above and obliquely above the workpiece, the distance H between the probe and the detection pipe is adjusted through the upper and lower adjusting screw rods, the purpose of adjusting the focal length is achieved, the angle of incidence of sound waves is adjusted through adjusting the angle of the probe, when the artificial defect is hurt, the distance between the probe and the water layer of the pipe body and the angle of incidence are adjusted according to the specification of the detection workpiece, an ideal state is obtained, and the detection of the weld defect of the workpiece is realized. Because the defects have different directivities, the second probe 713 adopts two groups of probes to detect the butt welding of the workpieces, one group of probe sound waves longitudinally enter, and the other group of probe sound waves transversely enter the internal defects of the annular welding seam of the detected workpieces so as to ensure that the defects are not missed. Because the rod end flaw detection is needed, a top flaw detection bracket is additionally arranged, when a workpiece enters a station, the end flaw detection is firstly carried out, and then the flaw detection is carried out at other positions.
In this embodiment, the first probe 712 and the second probe 713 are further connected with a pressing cylinder 75 in a distributed manner, so as to achieve pressing and fixing of the two groups of probes. The replacement operation can also be performed by controlling the hold-down cylinder 75 when the probe class needs to be replaced.
In this embodiment, the three-axis adjusting mechanisms in the valve head portion welding seam detecting module, the valve rod body welding seam detecting module and the valve rod body end portion detecting module all adopt XYZ multi-axis adjustment.
In this embodiment, as shown in fig. 3, the three-axis adjustment mechanism in the valve head weld detection module and the valve stem weld detection module includes an X-axis adjustment mechanism, a Y-axis adjustment mechanism, and a Z-axis adjustment mechanism. The X-axis adjusting mechanism comprises an X-axis servo motor 76, an X-axis screw and a sliding rail, and is integrally arranged on the Y-axis adjusting mechanism. The Y-axis adjusting mechanism comprises a Y-axis servo motor 74, a Y-axis lead screw and a sliding rail 710, wherein the X-axis adjusting mechanism and the Y-axis adjusting mechanism are both arranged on the Z-axis adjusting mechanism. The Z-axis adjusting mechanism comprises a Z-axis servo motor, a Z-axis screw rod and a sliding rail. The optimal flaw detection position of the ultrasonic probe is realized through common adjustment of the X-axis adjusting mechanism, the Y-axis adjusting mechanism and the Z-axis adjusting mechanism.
In this embodiment, the valve rod end detection module includes a valve rod end ultrasonic sensor and a triaxial adjustment mechanism for driving the valve rod end ultrasonic sensor to move, where the triaxial adjustment mechanism includes a driving cylinder 73. When the workpiece is in place, the driving cylinder 73 is driven so that the ultrasonic sensor probe at the end of the valve stem body is close to the top end of the workpiece, and flaw detection operation is achieved.
Example 4
A method of inspection of an ultrasonic inspection system, comprising:
(1) After the workpiece to be tested is processed, the workpiece to be tested is placed on a fixed support of a feeding trolley; each layer comprises 10-20 pieces, each vehicle comprises 4-5 layers, the clamping of the robot clamping jaws is facilitated by parallel arrangement, the action is simplified, and interference is avoided;
(2) Pushing the trolley into a loading station of the closed frame, detecting the position of a single workpiece by a robot vision system, finding the position deviation of the workpiece correctly, sending a signal to a PLC (programmable logic controller) control pneumatic adjusting device to adjust the position of the workpiece, clamping the workpiece by the action of the robot after the position adjustment of the workpiece is completed, feeding the workpiece into a detection station, clamping the workpiece by a tool of the detection station, and returning the robot to the loading station to clamp the next workpiece;
(3) The valve rod end detection module moves to detect the end of the workpiece rod body, and returns to a standby state (starting point standby) after the detection;
(4) The workpiece rotates, the valve head welding seam detection module and the valve rod body welding seam detection module respectively move to a valve head and a valve rod body detection station to start detection, and the detection is finished and returns to a standby state (a starting point standby);
(5) The machine arm adopts a double-station clamping jaw, moves to a detection station during working, the A clamping jaw takes out the detected workpiece, the clamping jaw position B clamping jaw is adjusted to put the next workpiece into the detection station for detection, and the machine arm clamps the detected workpiece, and the robot moves to a blanking station and sorts;
(6) The multichannel ultrasonic system gives out signals to the PLC, the PLC drives the subsystem to work, and the robot realizes automatic feeding, discharging and sorting to complete the whole detection process repeatedly;
(7) After the first layer is taken out, the robot arm takes away the bracket module and takes out the second layer of workpieces.
The flaw detection device is characterized by further comprising a combined transducer probe, wherein the combined transducer probe is arranged on the adjustable detection host module, the positions of the host are adjusted according to different specifications, and the flaw detection speed is determined according to the specifications.
The present invention is not limited to the above-mentioned embodiments, but is intended to be limited to the following embodiments, and any modifications, equivalents and modifications can be made to the above-mentioned embodiments without departing from the scope of the invention.
Claims (10)
1. An ultrasonic flaw detection system, characterized in that: comprises a robot (1), a loading vehicle (2), a disqualified vehicle (4), a qualified vehicle (5) and a flaw detection mechanism (7);
the robot (1) is used for grabbing a workpiece to be detected on the feeding vehicle to the position of the detection mechanism (7), and grabbing the detected workpiece to the qualified vehicle (5) or the unqualified vehicle (4);
the flaw detection mechanism (7) comprises a workpiece rotation driving mechanism, a valve head welding seam detection module, a valve rod body welding seam detection module and a valve rod body end detection module, wherein the valve head welding seam detection module and the valve rod body welding seam detection module comprise a welding seam ultrasonic sensor and a triaxial adjustment mechanism, and the valve rod body end detection module comprises a valve rod body end ultrasonic sensor and a triaxial adjustment mechanism.
2. An ultrasonic inspection system according to claim 1, wherein: the disqualified vehicle (4) and the qualified vehicle (5) are positioned on the same side of the robot (1) and are arranged in parallel.
3. An ultrasonic inspection system according to claim 1, wherein: the system also comprises a robot control system (3), wherein the robot control system (3) comprises a vision system.
4. An ultrasonic inspection system according to claim 1, wherein: the workpiece rotation driving mechanism comprises a driving motor (72), a transmission shaft (78), bearings (79) and supporting rollers (711), one end of the transmission shaft (78) is connected with the driving motor (72), a plurality of bearings (79) and the supporting rollers (711) are axially arranged on the transmission shaft (78), and the workpieces (77) are placed on the supporting rollers (711).
5. An ultrasonic inspection system according to claim 4, wherein: the transmission shaft (78) is positioned below the supporting roller (711) and is in contact with the supporting roller (711), and the supporting roller (711) is driven to rotate by the rotation of the transmission shaft (78).
6. An ultrasonic inspection system according to claim 4, wherein: the support rollers (711) include a plurality of sets, each set including a pair of rollers.
7. An ultrasonic inspection system according to claim 1, wherein: the valve head welding seam detection module, the valve rod body welding seam detection module and the valve rod body end detection module further comprise a flaw detection system.
8. An ultrasonic inspection system according to claim 1, wherein: the valve head weld detection module includes a first probe (712); the valve stem weld detection module includes a second probe (713).
9. An ultrasonic inspection system according to claim 1, wherein: the three-axis adjusting mechanism adopts XYZ multi-axis adjustment.
10. A flaw detection method of an ultrasonic flaw detection system according to any one of claims 1 to 9, characterized in that: comprising the following steps:
(1) After the workpiece to be tested is processed, the workpiece to be tested is placed on a fixed support of a feeding trolley;
(2) Pushing the trolley into a loading station of the closed frame, detecting the position of a single workpiece by a robot vision system, finding the position deviation of the workpiece correctly, sending a signal to a PLC (programmable logic controller) control pneumatic adjusting device to adjust the position of the workpiece, clamping the workpiece by the action of the robot after the position adjustment of the workpiece is completed, feeding the workpiece into a detection station, clamping the workpiece by a tool of the detection station, and returning the robot to the loading station to clamp the next workpiece;
(3) The valve rod end detection module moves to detect the end of the workpiece rod body, and returns to a standby state after the detection;
(4) The workpiece rotates, the valve head welding seam detection module and the valve rod body welding seam detection module respectively move to a valve head and a valve rod body detection station to start detection, and the detection is finished and returns to a standby state;
(5) The machine arm adopts a double-station clamping jaw, moves to a detection station during working, the A clamping jaw takes out the detected workpiece, the clamping jaw position B clamping jaw is adjusted to put the next workpiece into the detection station for detection, and the machine arm clamps the detected workpiece, and the robot moves to a blanking station and sorts;
(6) The multichannel ultrasonic system gives out signals to the PLC, the PLC drives the subsystem to work, and the robot realizes automatic feeding, discharging and sorting to complete the whole detection process repeatedly;
(7) After the first layer is taken out, the robot arm takes away the bracket module and takes out the second layer of workpieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410485107.3A CN118371447A (en) | 2024-04-22 | 2024-04-22 | Ultrasonic flaw detection system and detection method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410485107.3A CN118371447A (en) | 2024-04-22 | 2024-04-22 | Ultrasonic flaw detection system and detection method |
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| Publication Number | Publication Date |
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| CN118371447A true CN118371447A (en) | 2024-07-23 |
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| CN202410485107.3A Pending CN118371447A (en) | 2024-04-22 | 2024-04-22 | Ultrasonic flaw detection system and detection method |
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| Country | Link |
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