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.

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.