公开(公告)号：US20150177194A1

公开(公告)日：2015-06-25

申请号：US14411319

申请日：2013-07-04

申请人： Beijing Institute of Technology

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

IPC分类号： G01N29/04 ,  B25J9/16

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

摘要： 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.

摘要翻译： 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。