公开(公告)号：US20150177194A1

公开(公告)日：2015-06-25

申请号：US14411319

申请日：2013-07-04

Applicant: Beijing Institute of Technology

Inventor： Chunguang Xu ,  Xinyu Zhao ,  Lan Zhang ,  Hongbo Wang ,  Dingguo Xiao ,  Juan Hao ,  Zongxin Lu

IPC: G01N29/04 ,  B25J9/16

CPC classification number: G01N29/043 ,  B25J9/1661 ,  B25J9/1664 ,  B25J9/1669 ,  G01N29/225 ,  G01N29/265 ,  G01N2291/0231 ,  G01N2291/044 ,  G01N2291/101 ,  G01N2291/105 ,  G05B2219/39121

Abstract: Disclosed is a twin-robot testing apparatus for non-destructive testing. The apparatus comprises two robots (1) for detecting a workpiece (3) from front and back sides thereof; a water circulating unit, comprising a pressure pump, two water ejection coupling probes (2) and water pipes, for providing a coupled water column; an ultrasonic transmitting/receiving device, comprising two ultrasonic transducers, a pulse transmitting/receiving card, and a high-speed data acquisition card, wherein the two ultrasonic transducers are respectively attached at the end-effector of the two robots (1), for transmitting ultrasound and receiving ultrasound respectively, the ultrasonic pulse transmitting/receiving card and the high-speed data acquisition card are mounted on the robot controller mechanism for transmitting and receiving, and acquiring pulse signals, the two robots perform a synchronous transmission testing, with ultrasound transmitted by one robot being received by the other robot, and the ultrasonic transducers are adjusted in position and gesture with the change in the surface shape of the workpiece (3) such that the incidence direction of ultrasonic beam is always in coincidence with the normal direction of the curved surface. The apparatus is used for automatic non-destructive testing of a curved-surface workpiece made of a composite material, and can improve the accuracy, sensitivity and efficiency of the testing.

Abstract translation: 公开了一种用于非破坏性测试的双机器人测试装置。 该装置包括从前后检测工件（3）的两个机器人（1） 水循环单元，包括压力泵，两个水喷射耦合探头（2）和水管，用于提供耦合的水柱; 包括两个超声波换能器，脉冲发射/接收卡和高速数据采集卡的超声波发射/接收装置，其中两个超声波换能器分别连接在两个机器人（1）的末端执行器上，用于 分别发送超声波和接收超声波，超声脉冲发射/接收卡和高速数据采集卡安装在机器人控制器机构上，用于发送和接收，并采集脉搏信号，两台机器人进行超声波同步传输测试 由另一机器人接收的一个机器人传送，并且随着工件（3）的表面形状的变化，超声波换能器被调整到位置和手势，使得超声波束的入射方向总是与法线方向一致 的曲面。 该装置用于由复合材料制成的曲面工件的自动无损检测，可提高测试的准确性，灵敏度和效率。

公开(公告)号：US12005591B2

公开(公告)日：2024-06-11

申请号：US17051072

申请日：2019-07-16

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Chunguang Xu ,  Canzhi Guo ,  Juan Hao ,  Wanxin Yang ,  Xianchun Xu ,  Ruili Jia ,  Xinhao Zheng

IPC: B25J9/16 ,  B25J9/00 ,  G01N29/04 ,  G01N29/265 ,  G01N29/28

CPC classification number: B25J9/1692 ,  B25J9/0087 ,  G01N29/04 ,  G01N29/265 ,  G01N29/28 ,  G01N2291/0289 ,  G01N2291/2698

Abstract: An ultrasonic testing system of dual robot arms and an ultrasonic testing method for use in testing quality of surface and interior of a workpiece. The system includes an extension rod provided between a tail-end of a master robot arm and an emitting probe and/or between a tail-end of a slave robot arm and a receiving probe. One or more connected extension rod rotating shafts is provided between the extension rod and the emitting probe or between the extension rod and the receiving probe. The method uses an X-axis constraint method to convert posture data of the discrete points in a trajectory file of the tested workpiece into Euler angles, and constrain the X-axes of the auxiliary coordinate systems at the same time so that the positive direction of the X-axis of each of the auxiliary coordinate systems is the trajectory tangent direction.

公开(公告)号：US10989696B2

公开(公告)日：2021-04-27

申请号：US16910993

申请日：2020-06-24

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Chunguang Xu ,  Canzhi Guo ,  Juan Hao ,  Wanxin Yang ,  Xianchun Xu ,  Ruili Jia ,  Xinhao Zheng

IPC: G01N29/28 ,  G01N29/04

Abstract: An ultrasonic testing device that can make a robotic testing system reach the surface of a complex curved composite workpiece that is not easy to reach and perform a quality testing. By pumping a coupling liquid into the device so that the coupling liquid enters a waveguide and jets onto the surface of the workpiece, an ultrasonic wave can be transmitted in the waveguide and reach the surface of the workpiece and penetrate the workpiece, thereby achieving the purpose of quality testing of the workpiece. By providing two ultrasonic testing devices without a waveguide on both sides of a tested workpiece, respectively, and by mounting the waveguide on one side or both sides of the ultrasonic testing devices, it is possible to transmit the ultrasonic waves to the surface of the workpiece or to receive the ultrasonic waves from the surface of the workpiece.

公开(公告)号：US20210323161A1

公开(公告)日：2021-10-21

申请号：US17051072

申请日：2019-07-16

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Chunguang Xu ,  Canzhi Guo ,  Juan Hao ,  Wanxin Yang ,  Xianchun Xu ,  Ruili Jia ,  Xinhao Zheng

IPC: B25J9/16 ,  G01N29/04 ,  G01N29/265 ,  B25J9/00

Abstract: An ultrasonic testing system of dual robot arms and an ultrasonic testing method for use in testing quality of surface and interior of a workpiece. The system includes an extension rod provided between a tail-end of a master robot arm and an emitting probe and/or between a tail-end of a slave robot arm and a receiving probe. One or more connected extension rod rotating shafts is provided between the extension rod and the emitting probe or between the extension rod and the receiving probe. The method uses an X-axis constraint method to convert posture data of the discrete points in a trajectory file of the tested workpiece into Euler angles, and constrain the X-axes of the auxiliary coordinate systems at the same time so that the positive direction of the X-axis of each of the auxiliary coordinate systems is the trajectory tangent direction.

公开(公告)号：US20210033566A1

公开(公告)日：2021-02-04

申请号：US16910993

申请日：2020-06-24

Applicant: BEIJING INSTITUTE OF TECHNOLOGY

Inventor： Chunguang Xu ,  Canzhi Guo ,  Juan Hao ,  Wanxin Yang ,  Xianchun Xu ,  Xinhao Zheng

IPC: G01N29/28 ,  G01N29/04

Abstract: An ultrasonic testing device that can make a robotic testing system reach the surface of a complex curved composite workpiece that is not easy to reach and perform a quality testing. By pumping a coupling liquid into the device so that the coupling liquid enters a waveguide and jets onto the surface of the workpiece, an ultrasonic wave can be transmitted in the waveguide and reach the surface of the workpiece and penetrate the workpiece, thereby achieving the purpose of quality testing of the workpiece. By providing two ultrasonic testing devices without a waveguide on both sides of a tested workpiece, respectively, and by mounting the waveguide on one side or both sides of the ultrasonic testing devices, it is possible to transmit the ultrasonic waves to the surface of the workpiece or to receive the ultrasonic waves from the surface of the workpiece.